• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.5-161
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• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• The Korean Journal of Nuclear Medicine
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• v.19 no.1
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• pp.67-72
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• 1985

The development of paradoxical interventricular septal motion is a common consequence of cardiopulmonary bypass operation. The reason for this postoperative abnormal septal motion is not clear. 41 patients were studied preoperatively and postoperatively with radionuclide blood pool scan to evaluate the frequency of development of paradoxical septal motion with right ventricular volume overload before surgery and the frequency of development of paradoxical septal motion after cardiac surgery with cardiopulmonary bypass, and to evaluate the change of EF related to the development of paradoxical septal motion after cardiac surgery. The results were as follows; 1) 7 of 41 patients with right ventricular volume overload(that is 17%) showed paradoxical septal motion before surgery. But 13 of 34 patients(that is 42%) had paradoxical septal motion after cardiac surgery with cardiopulmonary bypass. So open heart surgery with cardiopulmonary bypass related the development of paradoxical septal motion after surgery. 2) EF significantly decreased in patients who developed paradoxical septal motion after surgery, whereas the EF did not change in the patients who retained normal interventricular septal motion after surgery. So paradoxical septal motion usually reflected some diminution of left ventricular function, immediately after cardiac surgery.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.176-184
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• 2000

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.

• 한국기계연구소 소보
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• s.9
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• pp.193-208
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• 1982

Flap type wave-maker, wave absorber, motion measuring equipment and related instruments were newly installed at Ship Experimental Towing Tank, Ship Research Station, KIMM. The model tests in regular head and following waves were successfully carried out and the motion and wave loads in regular and long crested irregular waves were calculated for a container ship model which was adopted as the hull form for the comparative calculations of the ITTC Seakeeping Committee. The results of model tests show good agreement with calculated results and the latter are generally in good agreement with the results of the comparative calculations.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.439-446
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• 2004

In this study, the characteristic of the Near Fault Ground Motion which was not considered at the seismic design in our country and how the Near Fault Ground Motion affects the cable-stayed bridge which have long period is analyzed through the dynamic response analysis. So, the object of this study is following that it makes the data which can be utilized as the seismic safety evaluation in case of the cable-stayed bridge taken the near fault in the future.

• Journal of Mechanical Science and Technology
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• v.17 no.7
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• pp.1036-1043
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• 2003

A computer simulation method for investigating the form generation mechanism in the centerless through-feed grinding process is described. The length of the contact line and the magnitude of the grinding force between the grinding wheel and workpieces, vary with the change in the axial location of the current workpiece during grinding. Thus, a new coordinate system and a grinding force curve of previous and/or following workpieces are introduced to treat the axial motion. Experiments and computer simulations were carried out using four types of cylindrical workpiece shapes. To validate this model, simulation results are compared with the experimental results.

• Transactions of Materials Processing
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• v.25 no.1
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• pp.21-28
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• 2016

In the current study, reduction of springback is quantified and the reasons for the reduction are investigated. The testing involved a digital servo motion applied to a U-draw bending to produce a hat-type product from high strength steels such as DP780 and DP980. The change in springback is compared between the constant speed motion and three kinds of servocontrolled motions during forming experiments. In order to predict the springback for the servo-controlled tool motion, a finite element method was utilized for the springback analysis considering a kinematic hardening model for the steel. The comparison of springback between the analysis and the experiments shows that they have similar tendencies. Also, the analysis results indicate that the springback reduction is greatly influenced by a decrease in the friction coefficient, which originates from the contact and detach phenomena between the tooling and the blank during the up-and-down motion of the upper die following the servo-controlled motion.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.605-612
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• 2015

Three dimensional (3D) position determination and motion recognition using a 3D depth sensor camera are applied to a developed penguin-shaped robot, and its validity and closeness are investigated. The robot is equipped with an Asus Xtion Pro Live as a 3D depth camera, and a sound module. Using the skeleton information from the motion recognition data extracted from the camera, the robot is controlled so as to follow the typical three mode-reactions formed by the operator's gestures. In this study, the extraction of skeleton joint information using the 3D depth camera is introduced, and the tracking performance of the operator's motions is explained.

• Korean Journal of Applied Biomechanics
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• v.16 no.2
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• pp.109-120
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• 2006

The purpose of this study was to examine the kinematical characteristics of gymnasts who can perform the KOVACS skill, and to grope for the better KOVACS Piked motion. The subjects were 3 male national gymnasts and were filmed with video cameras. And kinematic data were collected from the event of maximum knee flexion to the re-grasp the bar after airborne motion during KOVACS Piked motion. And the following conclusion were drawn; S1 took the enough time and inadequate height for performing KOVACS Piked motion. S2 showed the inadequate time and height during airborne motion with the large forward-backward and left-right movement. S3 showed the better KOVACS Piked movement among gymnasts, but the weak point of S3 was the large left-right shift. Based on the above conclusions, the gymnasts should be trained the enough time and height for the effective airborne movement and to reduce the left-right movement.